201217200 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種視訊雷達輔助駕駛系統，尤其是利用視訊 雷達顯示設備、警示單元、行駛控制單元及制動單元以提高行車 安全。 【先前技術】 如何改善行車安全，一直以來是業界的努力方向，其中有許 多薇商開發出利用紅外線、超音波雷達、微波、無線電波以偵測 • 車輛周圍的障礙物，藉以提醒駕駛注意路況，例如用於防止前車 撞擊警示的豐田(TOYOTA)Camery車系的ACC系統，或專用於左 右轉警示的奥迪(AUDI)車系的側邊輔助系統(Side Assist System)。 然而，紅外線、超音波雷達，偵測範圍小，距離短，容易受 到干擾，而微波、無線電波在需加強偵測範圍時，必須提升發射 功率，不僅對人體有害而且價格昂貴。最嚴重的，這些設計都有 致命的弱點，大部分只能監控一個目標(汽車、行人或任何道路上 物件），有些甚至無法偵測非金屬物的物件(例如道路地面的路標或 _ 塑膠的障礙物）。 此外，目前較先進的汽車中控系統已經提供前、後、左、右 影像於駕駛座的右前方以輔助駕駛掌握行車資訊，例如納智捷 (Lugxen)、富豪(Volve)S40 BLIS系統’但駕駛必須同時監看三個後 照鏡與-個縣，對於反應較慢的駕駛員很容易造成眼花療亂而 徒增危險。因此，需要一種具提供整合性的單一畫面而不需再監 看所有後視鏡的視訊雷達輔助駕駛系統，以解決上述習用技術的 201217200 【發明内容】 本發k主要目的在提供—魏訊雷達獅駕衫統，包括 ―办機陣列、影像觸單元、環境監控單元 、視訊雷達顯示設備、 後二1】單元及制動單疋’其中攝影機陣列拍攝環境影像，經影 辨哉單元辨識出被境物件及其影像、位置、顏色'移動速率及 =方’而分顺存於環境物件資料庫及影像職資料庫，環 兄皿控單7^取喊物件崎像、位置、齡、鑛速率及移動 方向以產生重建％境資訊，再參考目前的行駛資料庫，並判斷該 車輛>' 4至）-環境物件之間的相對空間關係、而產生警示資訊， 視訊雷軸錢備及警轉元分卿*重建環境 資訊的單一畫面 以=執仃警不魏的相對應警示操作以麟駕駛員注意，行驶控 制單疋接收該觀監控單元的重建魏資減生㈣命令，並由 制動早讀收以控制車輛之油門、煞車或方向盤。 …因此’本發明的視訊雷咖助躲线可提供視訊雷達功能 並:置於車輛、船或織上哺助駕驶，尤其可達成行車記錄的 並實現自動駕驶功能、追撞前車警示功能、後車追撞警示功能、 力能 '倒車碰撞警*功能或危險駕驶警示功能，以進一 步改善駕敬車輛的安全性。 【實施方式】 以下配合圖式及元件符號對本發明之實施方式做更詳細的說 明，俾使熟習該項技藝者在研讀本說明書後能據以實施。 參閱第一圖以及第二圖，分別為本發明視訊雷達輔助駕駛系 統的系統示意圖及攝影機陣列之設置示意圖。如第一圖所示，本 發明的視訊·雷達輔助駕驶系統包括至少一攝影機陣列10、至少一 影像辨識單元20、環境物件資料庫22、影像辨識資料庫24、行駛 4 201217200 貝料庫26、每境監控單元3〇、視訊雷達顯示設備如、 '行駛控制單元6。及制動單元7〇,用以安置於交通載：兀比 如-圖中的車辆8〇,以提供視訊雷達功能給駕 並辅助驗’進崎善駕駛的安全性。 作加） 要注意的是，圖中的車輛8〇係用以說明本發明特徵的示範性 而已’並非用以限定本發明的範圍，因此，除輪〇以外， 安置^發明視訊雷_助駕料〜⑽交通載具可為船或飛機。 每一攝影機陣列10包含至少一攝影機，比如第二圓所示的第201217200 VI. Description of the Invention: [Technical Field] The present invention relates to a video radar assisted driving system, in particular to a video radar display device, a warning unit, a travel control unit and a braking unit to improve driving safety. [Prior Art] How to improve driving safety has always been the direction of the industry. Many of them have developed infrared, ultrasonic radar, microwave, and radio waves to detect obstacles around the vehicle, so as to remind drivers to pay attention to the road conditions. For example, the ATC system of the Toyota (TOYOTA) Camery system used to prevent the front car collision warning, or the Side Assist System of the Audi (AUDI) car system dedicated to the left and right warning. However, infrared and ultrasonic radars have a small detection range and a short distance, which is easy to be interfered. When microwaves and radio waves need to strengthen the detection range, the transmission power must be increased, which is not only harmful to the human body but also expensive. Most seriously, these designs have fatal weaknesses, most of which can only monitor one target (car, pedestrian or any object on the road), and some can't even detect non-metallic objects (such as road signs or _ plastic) obstacle). In addition, the more advanced automotive central control system has provided front, rear, left and right images to the right front of the driver's seat to assist driving and grasp driving information, such as Lugxen and Volve S40 BLIS system. Driving must monitor three rear-view mirrors and a county at the same time. For slow-responding drivers, it is easy to cause dazzling and dangerous. Therefore, there is a need for a video radar assisted driving system that provides an integrated single picture without having to monitor all the rear view mirrors to solve the above-mentioned conventional technology 201217200. [Inventive content] The main purpose of the present invention is to provide - Wei Xun radar The lion's driving system includes “operating array, image touch unit, environmental monitoring unit, video radar display device, rear two 1] unit and brake unit 其中 where the camera array captures the environmental image, and the image recognition unit identifies the environment. The object and its image, position, color 'moving rate and = square' are stored in the environmental object database and video job database, and the ring brothers control sheet 7^ shouts the object image, position, age, mine rate and Move direction to generate reconstruction % information, then refer to the current driving database, and determine the relative spatial relationship between the vehicle > '4 to) - environmental objects, and generate warning information, video lightning axis and alarm Yuan Diqing* reconstructs a single screen of environmental information to follow the corresponding warning operation of the police officer, and the driver of the driver receives the attention of the driver. Wei owned raw iv Save command, received by the brake morning reading of the vehicle to control the throttle, brake or a steering wheel. ...therefore, the video radar help line of the present invention can provide the function of the video radar and is placed on the vehicle, the ship or the weaving to support the driving, in particular, the driving record can be achieved and the automatic driving function can be realized, the front car warning function can be chased, The rear chase warning function, the force 'reverse collision alarm* function or the dangerous driving warning function to further improve the safety of the respected vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described in more detail below with reference to the drawings and the <RTIgt; Referring to the first figure and the second figure, respectively, the system schematic diagram of the video radar assisted driving system and the arrangement of the camera array are shown. As shown in the first figure, the video/radar assisted driving system of the present invention includes at least one camera array 10, at least one image recognition unit 20, an environmental object database 22, an image recognition database 24, and a travel 4 201217200. The environment monitoring unit 3, the video radar display device, for example, the 'driving control unit 6. And the brake unit 7〇 is arranged to be placed in the traffic load: 兀 如 - 的 的 的 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 It should be noted that the vehicle 8 in the figure is used to illustrate the exemplary features of the present invention and is not intended to limit the scope of the present invention. Therefore, in addition to the rim, the invention of the video lightning _ assist Material ~ (10) Traffic vehicles can be ships or aircraft. Each camera array 10 includes at least one camera, such as the second circle
攝〜機1卜第—攝影機12、第三攝影機13及第四攝影機μ， 係設置成朝向車輛8〇的獨方向以減車__環境，以產生 相對應的魏個魏，比如第―攝職n、第項影機^、 第三攝影機13及第四攝影機14分別朝向前方D卜左側方D2、後 方D3及右側方D4。為提升_廣度與長度，每一攝影機陣列川 可進-步添加錄頭、廣肖綱、紅外線制或直接增加攝影機 數量以監控更多方向。 每-影像辨識單元20藉視訊媒介以電氣連接相對應的攝影 機陣列10並接收該等環境影像，同時辨識出等環境影像中的至少 一環境物件以及其影像、位置、顏色、移動速率及移動方向。更 具體的疋，環境物件可包括車輛、地面標線、地面警示文字、交 通標諸、周遭障礙物、行人或護攔。 上述的視訊媒介可包括通用序列匯流排(USB)及視訊信號線 的其中之一而δ亥視sfljs5虎線可包括複合(comp0site)、色差 (comPonent)、高解析多媒體影音介面(High Definition Multimedia Interface ’ HDMI)、RGB、YUV、CCIR601 以及 CCIR656 信號線 _的其中之一。 環境物件資料庫22連結至影像辨識單元10，以接收並儲存 5The camera 12, the camera 12, the third camera 13 and the fourth camera μ are arranged to face the vehicle 8〇 in a single direction to reduce the vehicle__ environment to generate a corresponding Wei Wei, such as the first-photo n. The first item camera ^, the third camera 13 and the fourth camera 14 face the front side D, the left side D3, and the right side D4, respectively. To enhance _ breadth and length, each camera array can be stepped in, adding a head, a broad outline, an infrared system or directly increasing the number of cameras to monitor more directions. Each image recognition unit 20 uses a video medium to electrically connect the corresponding camera array 10 and receive the environmental images, and at the same time recognizes at least one environmental object in the environmental image and its image, position, color, moving speed and moving direction. . More specifically, environmental items may include vehicles, ground markings, ground warning texts, traffic signs, surrounding obstacles, pedestrians or barriers. The above video medium may include one of a universal serial bus (USB) and a video signal line, and the sfljs5 tiger line may include a composite (comp0site), a color difference (comPonent), and a high resolution multimedia interface (High Definition Multimedia Interface). One of 'HDMI', RGB, YUV, CCIR601 and CCIR656 signal lines. The environmental object database 22 is coupled to the image recognition unit 10 for receiving and storing 5
I 201217200 環境物件之影像，而影像辨識資料庫 以接收並儲存環境物件的位置、顏色、;像辨識單元10， 行驶資料庫26具有轉⑹的_ i ㈣ 態資訊包括車輛的全球定位系統(GPS)㈣、中動 向，而靜態資訊為事先輪入的煞車距離、迴轉半徑、H度及方 安全車距或車輛的長度、寬度及高度。 環境監控單元3〇連結至環件賴庫22I 201217200 The image of the environmental object, and the image recognition database to receive and store the position and color of the environmental object; the image recognition unit 10, the driving database 26 has the _i (four) state information of the turn (6) including the global positioning system of the vehicle (GPS) (4), medium movement, and static information is the braking distance, radius of gyration, H degree and square safety distance or the length, width and height of the vehicle. The environmental monitoring unit 3〇 is connected to the ring member library 22
庫24、行駛麵26，以讀取輪件崎ml 1 ，多動方向，並產生用以表示車輛80 的： 心讯’魏據《環境資訊關_車輛8G與魏物件之t =對空_，比如靜態與動態關係，靜態包括相對距離、相對 7 ’而動態關係包括相對速度，藉以產生警示資訊，而 =:資料絲的輪。之動態車速，加上物件距離變化 十例如’核境監控單元3〇可在車輪8〇與環境物件之間的相對 於某i設安纽料產钱料魏，频設安全距離 辆80與環i兄物件之間的相對速度每增力口時速1〇公里時至 “力6 A尺’會隨各種車型、車躺輕，這些資訊都事先储 子=仃敬麟庫26巾，而行駛巾會持續續目前料、方向，提 供¥境監控單it 3G it行麟觸。 視°凡雷達顯不設備40具顯示影像功能，可接收環境監控單元 的重建壤境資訊靖補柄8G之腳魏的單—畫面，且單 思面係以烏卿及雷達®的至少其中之-的方式而顯示。例 車辆80的前方D卜左側方D2、後方D3及右側方D4之相對 件係分別位於單—晝面中的上方、左方下方及右方，以方 便駕歇了解車_圍的路況。 201217200 警示單it 50接收環境監控單s 3G的警示資訊，以產生相對 應的聲響、燈光或震動，藉以提醒該車輛的駕駛。 行駛控制單元60接收環境監控單元3〇的重建環境資訊，並 依據重建觀資誠產生控制命令。鑛單元7G藉職媒介以接 欠行驶控制單7L 60的控制命令，並轉換成相對應的控制訊號，用 以控制車輛80(交通載具)之油門、煞車及方向盤的至少其中一。 上述的傳輸媒介包括有線媒介及無線媒介的其中之一，其中 有線媒介包括區域互聯網路(L〇cai interc〇nnect Netw〇rk，_)及控 制區域網路(Controller Area Network，CAN)、區域網路通訊協定 (Transmission Control Protocol/Intemet Protocol，TCP/IP)的其中之 一，而無線媒介包括使用紅外線的紅外線數據協會(InfraredData Association，IrDA)協定、使用無線電頻率(RF)的藍芽(Bluet〇〇th) 協定以及用於電腦及行動電話之間的WIFI/WIMAX/3G/LTE的其 中之一 β 為進一步顯示本發明的特徵，可參閱第三圖，本發明視訊雷 達輔助駕駛系統的單一晝面之示意圖。如第三圖所示，本發明視 afl台達顯不6又備40所顯不的早一畫面包括本車9〇、第___車91、 第一車92、第二車93、第四車94、第五車95、車道線RL、第一 號誌、標識RS1、第二號該標識rs2 '第三號誌、標識RS3、第一警示 標識DS1、第二警示標識DS2以及第三警示標識DS3，其中本車 90為设置本發明視訊雷達輔助駕駛系統的車輛，第一車％、第二 車92、第三車93及第四車94為本車90之周圍的車輛，車道線 RL為行駛道路路面所畫設的分隔線，比如包括最左側及最右側的 連續線條，以及車道之間的複數個分離線段，而第一號誌標識 RS1、第二號誌、標識RS2及第三號諸標識RS3分別代表下一道路 出口標識、速限標識及道路里程標識。 7 201217200 此外，第三圖中的第-警示標識Dsi、第二警The library 24 and the driving surface 26 are used to read the wheel assembly ml 1 , the moving direction, and generate the vehicle 80 for the purpose of: the heart information 'Wei's according to the environmental information off _ vehicle 8G and Wei object t = air _ For example, static and dynamic relationships, static includes relative distance, relative 7' and dynamic relationship includes relative speed, thereby generating warning information, and =: round of information thread. The dynamic speed, plus the change of the object distance, for example, 'the nuclear monitoring unit 3 〇 can be between the wheel 8 〇 and the environmental object relative to a certain i set the material of the material, Wei, set the safety distance 80 and ring The relative speed between the sibling objects is increased by 1 〇 km per hour. The force “6 A ft.” will be light with various models and cars. These information are stored in advance = 仃敬麟库26巾, while the running towel Will continue the current material, direction, provide the ¥ environment monitoring single it 3G it line Lin touch. Depending on the radar display device 40 display image function, can receive the environmental monitoring unit reconstruction road information Jing Chong handle 8G foot Wei The single-picture, and single-faceted display is displayed in at least one of Wuqing and Radar®. The front part of the vehicle 80 is located on the left side D2, the rear side D3, and the right side D4. Single-top, left, and right sides of the face to facilitate driving to understand the road conditions of the car. 201217200 Warning list it 50 receives the environmental monitoring single s 3G warning information to produce the corresponding sound, light or Vibration to remind the driver of the vehicle. The unit 60 receives the reconstruction environment information of the environmental monitoring unit 3, and generates a control command according to the reconstruction of the fund. The mining unit 7G borrows the medium to receive the control command of the driving control list 7L 60 and converts it into a corresponding control signal. At least one of a throttle, a brake, and a steering wheel for controlling the vehicle 80 (traffic vehicle). The above transmission medium includes one of a wired medium and a wireless medium, wherein the wired medium includes a regional internet road (L〇cai interc〇nnect Netw〇rk, _) and one of the Control Area Network (CAN) and the Transmission Control Protocol/Intemet Protocol (TCP/IP), and the wireless medium includes infrared data using infrared rays. The Association (Infrared Data Association, IrDA) agreement, the Bluetooth (Bluetooth) protocol using radio frequency (RF), and one of the WIFI/WIMAX/3G/LTE for computer and mobile phones are further displayed. For a feature of the present invention, reference may be made to the third figure, which is a schematic diagram of a single side of the video radar assisted driving system of the present invention. As shown in the third figure, The invention regards the afl Delta display and the display of the previous display including the car 9〇, the ___ car 91, the first car 92, the second car 93, the fourth car 94, the fifth car 95 , lane line RL, first number, identification RS1, second number, the identifier rs2 'third number, identification RS3, first warning indicator DS1, second warning indicator DS2, and third warning indicator DS3, wherein the vehicle 90 In order to install the vehicle of the video radar assisted driving system of the present invention, the first vehicle %, the second vehicle 92, the third vehicle 93, and the fourth vehicle 94 are vehicles around the vehicle 90, and the lane line RL is drawn on the road surface of the road. The dividing line includes, for example, the leftmost and rightmost continuous lines, and a plurality of separate line segments between the lanes, and the first number identification RS1, the second number, the identifier RS2, and the third number identifiers RS3 respectively represent Next road exit sign, speed limit sign and road mileage sign. 7 201217200 In addition, the third warning sign in the third figure Dsi, the second police
及第三警示標識DS3係視訊雷達顯& " "§β U OD 見細—4G進—步接收環境， 早的警一示貢，在單_晝面中所顯示的警示資訊之相對:: 不’其中第-警福識DS1表示本車9()太靠近前方的第—㈣ 而有追撞第-車9丨的危險，第二警示標識聰表示第三車 靠近本車9〇，或偏離原行驶車道，或準備變換車道，或本車9⑽ 變換車道至左邊車道而羞生的側撞警示，而第三警示標識⑽表人 不第四車94太靠近林9〇而有追撞林％的危險。And the third warning sign DS3 is the video radar &""" § β U OD see the fine - 4G into the step receiving environment, the early warning of a tribute, the relative information displayed in the single _ 昼 face :: No' The first-police confession DS1 indicates that the car 9 () is too close to the front - (four) and there is a danger of chasing the first car - 9 ,, the second warning sign indicates that the third car is close to the car 9 〇 , or deviate from the original driving lane, or prepare to change lanes, or the vehicle 9 (10) change lanes to the left lane and shy side warnings, while the third warning sign (10) not the fourth car 94 is too close to the forest 9 The danger of hitting the forest is %.
要注意的是’第三圖只明方向多個車道上的環境物件 例以方便說明，但是本發_單_畫面實f上也可包括對向車道 上的環境物件。 本發_視訊雷達輔助駕駛系統可進—步包括行車紀錄單元 (圖中未顯示）’用以連結至環境監控單元3〇，以接收並記錄環境物 件的影像、位置、顏色、鶴速率及移動方向。 本毛明的特點在於’視訊雷達輔助駕驶祕可用以實現自動 駕.驶功能、追财車料魏、後車秘料械、嫩警示功 月t>倒車碰#里警示功能及危險駕敬警示功能，並可應用於大型交 通工具’例如飛m尤其是對於體髓大的這些交通工具， 本發明的視訊雷達輔助駕驶系統可解決駕駛因無法顧及的角度和 面積很大rfij常常發生極大損失碰撞的醜，提高駕駛的安全性。 以上所述者僅為用以解釋本發明之較佳實施例，並非企圖據以 對本發明做任何形式上之關，是以，凡有在相狀發明精神下所 作有關本發明之任何料或變更，皆仍應包括在本發喊圖保護之 範#。 201217200 【圖式簡單說明】 第一圖為本發明視訊雷達輔助駕駛系統的系統示意圖。 第二圖為本發明視訊雷達輔助駕駛系統的攝影機陣列之設置示意圖。 第三圖為本發明視訊雷達輔助駕駛系統的單一畫面之示意圖。 【主要元件符號說明】 ίο攝影機陣列 20影像辨識單元 22環境物件資料庫 ® 24影像辨識資料庫 26行駛資料庫 30環境監控單元 40視訊雷達顯示設備 50警示單元 60行駛控制單元 70制動單元 80車輛 0 90本車 91第一車 92第二車 93第三車 94第四車 95第五車 D1前方 D2左側方 D3後方 201217200 D4右側方 DS1第一警示標識 DS2第二警示標識 DS3第三警示標識 RL車道線 RS1第一號誌標識 RS2第二號誌標識 RS3第三號誌標識It should be noted that the third figure only shows the environmental objects in multiple lanes for convenience of explanation, but the present invention may also include environmental objects on the opposite lane. The present invention _ video radar assisted driving system can further include a driving record unit (not shown) for connecting to the environmental monitoring unit 3〇 to receive and record images, positions, colors, crane rates and movements of environmental objects. direction. Ben Maoming's characteristics are that 'video radar assisted driving secret can be used to achieve automatic driving. Driving function, chasing the car material Wei, after the car secret equipment, tender warning power t>; reversing collision # warning function and dangerous driving warning Function, and can be applied to large-scale vehicles, such as flying m, especially for those vehicles with large body marrow. The video radar assisted driving system of the present invention can solve the problem that the driving angle cannot be taken into consideration and the area is large, rfij often has a great loss collision. Ugly, improve the safety of driving. The above is only a preferred embodiment for explaining the present invention, and is not intended to be in any form to modify the present invention, so that any material or change relating to the present invention is made in the spirit of the invention. , should still be included in the scope of this call to protect the #. 201217200 [Simplified description of the drawings] The first figure is a schematic diagram of the system of the video radar assisted driving system of the present invention. The second figure is a schematic diagram of the arrangement of the camera array of the video radar assisted driving system of the present invention. The third figure is a schematic diagram of a single picture of the video radar assisted driving system of the present invention. [Main component symbol description] ίο camera array 20 image recognition unit 22 environmental object database® 24 image recognition database 26 travel database 30 environment monitoring unit 40 video radar display device 50 alert unit 60 travel control unit 70 brake unit 80 vehicle 0 90 car 91 first car 92 second car 93 third car 94 fourth car 95 fifth car D1 front D2 left side D3 rear 201217200 D4 right side DS1 first warning sign DS2 second warning sign DS3 third warning sign RL Lane line RS1 first letter logo RS2 second letter logo RS3 third letter logo